RESEARCH PAPER
Design of a Fuzzy Fractional Order Adaptive Impedance Controller with Integer Order Approximation for Stable Robotic Contact Force Tracking in Uncertain Environment
1
Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China
Submission date: 2021-06-30
Acceptance date: 2021-09-25
Online publication date: 2022-02-04
Publication date: 2022-01-01
Acta Mechanica et Automatica 2022;16(1):16-26
KEYWORDS
adaptive impedance controlcontact interactionsfractional orderfuzzy logicinteger order approximation
ABSTRACT
Current research in robot compliance control is unable to take both transient contact force overshoots and steady-state force tracking problems into account. To address this problem, we propose a fuzzy fractional order (FO) adaptive impedance controller to avoid the force overshoots in the contact stage while keeping force error in the dynamic tracking stage, where traditional control algorithms are not competent. A percentage gain is adopted to map FO parameters to integer order (IO) parameters by their natural properties, and a fuzzy logical controller is introduced to improve the system stability. The simulation results indicate that the proposed controller can be made more stable than and superior to the general impedance controller, and the force tracking results also have been compared with the previous control methods.
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| eISSN: | 2300-5319 |
| ISSN: | 1898-4088 |
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